CN112113580A - Vehicle positioning method and device and automobile - Google Patents
Vehicle positioning method and device and automobile Download PDFInfo
- Publication number
- CN112113580A CN112113580A CN201910545168.3A CN201910545168A CN112113580A CN 112113580 A CN112113580 A CN 112113580A CN 201910545168 A CN201910545168 A CN 201910545168A CN 112113580 A CN112113580 A CN 112113580A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- position coordinates
- roadside fixed
- fixed point
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
Abstract
The invention discloses a vehicle positioning method and device and an automobile. Wherein, the method comprises the following steps: acquiring the position coordinates of a roadside fixed point under the condition that the signals of the vehicle-mounted positioning system cannot meet the positioning requirements of the vehicle; measuring the relative position between the position coordinates of the roadside fixed point and the vehicle; and obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point. The invention solves the technical problem that the vehicle cannot be accurately positioned due to poor signals caused by the environment of the positioning system.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle positioning method and device and an automobile.
Background
The Global Positioning System (GPS) is a commonly used positioning System at present, and is often applied to navigation and positioning, and based on the development of the automobile manufacturing technology, the vehicle-mounted navigation and positioning are realized by installing the GPS in the automobile, and with the aging development of the automatic driving technology, the accuracy of the positioning technology determines the safety of each driving behavior;
however, due to the reason of road construction, the GPS signal is often influenced in the environment such as underground garages, tunnels or high buildings, so that the GPS loses the satellite, thereby influencing the positioning of the vehicle, causing errors of several meters or even tens of meters, and having a huge safety risk to the vehicle and the surrounding environment in advance, and the common means for solving the problem are as follows: the Inertial navigation + GPS + differential signal is adopted to determine the position, the attitude, the course and the like of the vehicle, and when the GPS signal in a short time is lost, an Inertial vehicle unit (IMU for short) can calculate the running track in a short time. However, in this method, when the GPS signal is not good, a large error is caused in the determination of the vehicle body position, which has a large limitation.
However, in the method of using relative position positioning, the prior art mostly adopts a deep learning method, a classification result is directly output by a multilayer neural network through training of a large number of sample libraries, the whole process is high in time consumption and labor cost, and the deep learning neural network is complex, so that the training of the multilayer network and a large number of samples is needed in learning, but due to different scene requirements, the data have certain limitations, and the construction of the large number of sample libraries mainly comprises the steps of manually finding a required target object according to each frame or each image for data (video or images) acquired in advance, manually marking or cutting the target object with a proper size, and storing the target object. The mode of relying on manual production has the disadvantages of complicated operation, low efficiency, no guarantee of quality and very high labor cost.
Aiming at the problem that the vehicle cannot be accurately positioned due to poor signals caused by the environment where the positioning system is located, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a vehicle positioning method and device and an automobile, and aims to at least solve the technical problem that the vehicle cannot be accurately positioned due to poor signals caused by the environment where a positioning system is located.
According to an aspect of an embodiment of the present invention, there is provided a vehicle positioning method including: acquiring the position coordinates of a roadside fixed point under the condition that the signals of the vehicle-mounted positioning system cannot meet the positioning requirements of the vehicle; measuring the relative position between the position coordinates of the roadside fixed point and the vehicle; and obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point.
Optionally, before acquiring the position coordinates of the roadside fixed point, the method further includes: collecting the characteristics and position coordinates of all roadside fixed points on a road; and generating a coordinate set according to the characteristics and the position coordinates of all the roadside fixed points, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
Further, optionally, the method further includes: a set of coordinates is stored.
Optionally, the obtaining the position coordinates of the roadside fixed point includes: acquiring the characteristics of a roadside fixed point; and matching the position coordinates of the roadside fixed point from the coordinate set according to the features.
Optionally, obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point includes: acquiring a coordinate system where the roadside fixed point is located according to the position coordinate of the roadside fixed point; determining position coordinates of the relative position in a coordinate system; the position coordinates are determined as position coordinates of the vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle positioning apparatus, including: the acquisition module is used for acquiring the position coordinates of the roadside fixed point under the condition that the signal of the vehicle-mounted positioning system cannot meet the vehicle positioning requirement; the measuring module is used for measuring the relative position between the position coordinates of the roadside fixed point and the vehicle; and the positioning module is used for obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point.
Optionally, the apparatus further comprises: the acquisition module is used for acquiring the characteristics and the position coordinates of all roadside fixed points on a road before acquiring the position coordinates of the roadside fixed points; and the data processing module is used for generating a coordinate set according to the characteristics and the position coordinates of all the roadside fixed points, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
Further, optionally, the obtaining module includes: an acquisition unit for acquiring the characteristics of the roadside fixed point; and the matching unit is used for matching the position coordinates of the roadside fixed point from the coordinate set according to the features.
Optionally, the positioning module includes: the coordinate system acquisition unit is used for acquiring a coordinate system where the roadside fixed point is located according to the position coordinate of the roadside fixed point; a first coordinate determination unit for determining position coordinates of the relative position in a coordinate system; a second coordinate determination unit for determining the position coordinates as position coordinates of the vehicle.
According to an aspect of another embodiment of the present invention, there is also provided an automobile including: the system comprises an acquisition device, a measurement device, a vehicle-mounted computing device, a positioning system and a storage device, wherein the acquisition device is used for acquiring the characteristics of a roadside fixed point and acquiring the position coordinate of the roadside fixed point according to the characteristics; the measuring device is connected with the acquisition device and used for measuring the relative position between the position coordinate of the roadside fixed point and the vehicle; the vehicle-mounted computing device is connected with the measuring device and used for obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point; and the storage device is respectively connected with the acquisition device and the vehicle-mounted computing device and is used for storing the characteristics of all roadside fixed points on the road acquired by the acquisition device before acquiring the position coordinates of the roadside fixed points, determining the position coordinates of the roadside fixed points through the positioning system, and generating a coordinate set according to the characteristics of all the roadside fixed points and the position coordinates of the roadside fixed points through the vehicle-mounted computing device, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
According to an aspect of still another embodiment of the present invention, there is also provided a storage medium including a stored program, wherein the apparatus on which the storage medium is located is controlled to perform the above-mentioned method of vehicle localization when the program is executed.
According to an aspect of yet another embodiment of the present invention, there is also provided a processor for executing a program, wherein the program is executed to perform the above-mentioned vehicle positioning method.
In the embodiment of the invention, the position coordinates of the roadside fixed point are acquired by adopting the precise coordinates of the road surface characteristic points acquired in advance and determining the current position of the vehicle according to the relative distance measured by a radar and a camera installed on the vehicle under the condition that the signal of a vehicle-mounted positioning system cannot meet the positioning requirement of the vehicle; measuring the relative position between the position coordinates of the roadside fixed point and the vehicle; according to the position coordinates and the relative position of the roadside fixed point, the position coordinates of the vehicle are obtained, the purposes of higher operability and easier realization in a software system are achieved, the phenomenon of vehicle position unlocking caused by faults such as weather, obstacles and communication is avoided, the automatic driving safety is improved, the technical effect of the stability of vehicle operation is ensured, and the technical problem that the vehicle cannot be accurately positioned due to poor signals caused by the environment where the positioning system is located is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an automobile according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an on-board system acquiring a position fix of an automobile in the event of a position fix system failure in accordance with an embodiment of the present invention;
FIG. 3 is a schematic flow diagram of a method of vehicle localization according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an apparatus for vehicle localization according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical terms related to the present application are:
real-time differential positioning: real-time Kinematic, RTK for short;
global positioning system: global Position System, abbreviated GPS;
a micro control unit: the Microcontroller Unit is called MCU for short.
Example 1
According to an aspect of another embodiment of the present invention, there is also provided an automobile, and fig. 1 is a schematic structural diagram of an automobile according to an embodiment of the present invention, as shown in fig. 1, including:
the system comprises an acquisition device 10, a measurement device 12, an on-board calculation device 14, a positioning system 16 and a storage device 18, wherein the acquisition device 10 is used for acquiring the characteristics of roadside fixed points and acquiring the position coordinates of the roadside fixed points according to the characteristics; the measuring device 12 is connected with the acquisition device 10 and used for measuring the relative position between the position coordinates of the roadside fixed point and the vehicle; the vehicle-mounted computing device 14 is connected with the measuring device 12 and used for obtaining the position coordinates of the vehicle according to the position coordinates and the relative position of the roadside fixed point; and the storage device 18 is respectively connected with the acquisition device 10 and the vehicle-mounted computing device 14 and is used for storing the characteristics of all roadside fixed points on the road acquired by the acquisition device 10 before acquiring the position coordinates of the roadside fixed points, determining the position coordinates of the roadside fixed points through the positioning system 16, and generating a coordinate set according to the characteristics of all the roadside fixed points and the position coordinates of the roadside fixed points through the vehicle-mounted computing device 18, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
Specifically, the automobile provided in the embodiment of the present application may be an automobile applied to an automatic driving technology, and the acquisition device 10 in the automobile may include a camera, a video camera, a camera or other terminal devices having a camera and/or a photographing function; the measuring device 12 may include: a radar, wherein the radar may be preferably a laser radar in the embodiments of the present application; in addition, other radars with a ranging function can also be applied to the automobile provided by the embodiment of the application, for example, millimeter wave radars; the radar provided by the embodiment of the application takes a laser radar as an example for explanation, and is subject to the realization of the automobile provided by the embodiment of the application, and is not particularly limited;
the positioning system provided by the embodiment of the application can be as follows: in addition, the GPS or RTK is described by taking the acquisition device 10 as a camera and the measurement device 12 as a laser radar as an example, in order to avoid the occurrence that the vehicle cannot position itself due to the loss or locking of the GPS or RTK in a place with a poor GPS or RTK signal, a concept of a "roadside fixed point" is provided in the embodiment of the present application, wherein the roadside fixed point is a road side sign, such as a road traffic sign, a street lamp, a traffic light, and the like, which is fixed on the road and does not change with the change of time;
therefore, the roadside fixed point can be used as an effective reference object of the vehicle in the process of traveling, the position coordinate of the roadside fixed point can be determined based on the relative position of the vehicle and the roadside fixed point, and the position coordinate of the current vehicle can be determined under the condition that the positioning signal cannot meet the navigation positioning requirement.
The position coordinates of the roadside fixed point can be longitude and latitude positions obtained by satellite surveying and mapping, and the position coordinates of the vehicle are the same. The relative position of the roadside fixed point and the vehicle can be set up into a coordinate system according to the position coordinate of the roadside fixed point, and the position coordinate of the current vehicle in the coordinate system is determined by measuring the relative position of the vehicle and the roadside fixed point.
Before vehicle positioning is realized, the characteristics of all roadside fixed points on a road need to be acquired through the acquisition device 10, the position coordinates of the roadside fixed points are determined through the positioning system 16, a coordinate set is generated through the vehicle-mounted computing device 14 based on the characteristics of all roadside fixed points and the position coordinates of the roadside fixed points, and the coordinate set is stored through the storage device 18;
in the case that the signal of the vehicle-mounted positioning system cannot meet the requirement of vehicle positioning, fig. 2 is a schematic diagram of the vehicle-mounted system acquiring positioning when the positioning system fails, as shown in fig. 2, the camera of the vehicle (i.e., the acquisition device 10 in the embodiment of the present application) acquires a roadside fixed point on the road where the vehicle travels, taking a guideboard as an example, since the guideboard can indicate the distance between the current position and a certain place, and the establishment of the guideboard is definitely mapped on a map or recorded in a related record in advance, by acquiring the characteristics of the guideboard, the guideboard is identified as the guideboard located at a certain position in the current road, and further acquiring the position coordinates of the guideboard, and by using a laser radar on the vehicle (i.e., the measurement device 12 in the embodiment of the present application), the relative position between the vehicle and the guideboard is introduced into the coordinate system where the position coordinates are located, the position coordinates of the relative position in the coordinate system are acquired, and finally the position coordinates in the coordinate system are converted into longitude and latitude coordinates by an in-vehicle computing device 14 (i.e., an in-vehicle computing unit in fig. 2, such as an in-vehicle computer, or MCU), so as to obtain the position coordinates of the vehicle.
In an actual application scene, the automobile provided by the embodiment of the application can be applied to running in a logistics park and a high-speed trunk, the method for determining the absolute position of the automobile by proposing the relative position is high in operability and easy to realize in a software system, the advantage of accurate laser radar distance measurement is combined, the accurate coordinates of the road surface characteristic points acquired in advance are utilized, and then the relative distance is measured according to the radar and the camera installed on the automobile, so that the current position of the automobile is determined, the phenomenon of unlocking the automobile position caused by faults such as weather, obstacles and communication is avoided, the safety of automatic driving is improved, and the running stability of the automobile is guaranteed.
In the embodiment of the invention, the precise coordinates of the road surface feature points acquired in advance are adopted, and then the current position of the vehicle is determined according to the relative distance measured by a radar and a camera installed on the vehicle; the measuring device is connected with the acquisition device and used for measuring the relative position between the position coordinate of the roadside fixed point and the vehicle; the vehicle-mounted computing device is connected with the measuring device and used for obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point; the storage device is respectively connected with the acquisition device and the vehicle-mounted computing device and is used for storing the characteristics of all roadside fixed points on a road acquired by the acquisition device before acquiring the position coordinates of the roadside fixed points, determining the position coordinates of the roadside fixed points by the positioning system and generating a coordinate set by the vehicle-mounted computing device according to the characteristics of all the roadside fixed points and the position coordinates of the roadside fixed points, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other, so that the purposes of higher operability and easier realization in a software system are achieved, the phenomenon of vehicle position unlocking caused by faults of weather, obstacles, communication and the like is avoided, the automatic driving safety is improved, the technical effect of ensuring the stability of vehicle operation is achieved, and the signal difference caused by the environment where the positioning system is located is solved, so that the vehicle can not be accurately positioned.
Example 2
In accordance with an embodiment of the present invention, there is provided a method embodiment of vehicle localization, it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 3 is a schematic flowchart of a method for locating a vehicle according to an embodiment of the present invention, and as shown in fig. 3, the method may be applied to the automobile provided in embodiment 1, and the method for locating a vehicle provided in an embodiment of the present invention includes the following steps:
step S302, under the condition that the signal of the vehicle-mounted positioning system can not meet the positioning requirement of the vehicle, acquiring the position coordinate of a roadside fixed point;
step S304, measuring the relative position between the position coordinates of the roadside fixed point and the vehicle;
and S306, obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point.
Specifically, the method for positioning a vehicle according to the embodiment of the present application may be applied to the vehicle according to embodiment 1, wherein, with reference to steps S302 to S306, the vehicle according to the embodiment of the present application may be a vehicle applied to an automatic driving technology, and the acquisition device in the vehicle may include a camera, a video camera, a camera or other terminal equipment having a camera and/or a photographing function; the measuring device may include: a radar, wherein the radar may be preferably a laser radar in the embodiments of the present application; in addition, other radars with a ranging function can also be applied to the automobile provided by the embodiment of the application, for example, millimeter wave radars; the radar provided by the embodiment of the application takes a laser radar as an example for description, and is subject to the method for realizing vehicle positioning provided by the embodiment of the application, and is not particularly limited;
the positioning system provided by the embodiment of the application can be as follows: in addition, the GPS or RTK is described by taking the acquisition device as a camera and the measuring device as a laser radar, in order to avoid the occurrence that the vehicle cannot position the self position due to the fact that the GPS or RTK is lost or unlocked in a place where the GPS or RTK signals are poor, the concept of a road side fixed point is provided in the embodiment of the application, wherein the road side fixed point is a road side mark with fixed road side, such as a road traffic sign, a street lamp, a traffic light and the like, and the fixed point cannot change along with the change of time;
therefore, the roadside fixed point can be used as an effective reference object of the vehicle in the process of traveling, the position coordinate of the roadside fixed point can be determined based on the relative position of the vehicle and the roadside fixed point, and the position coordinate of the current vehicle can be determined under the condition that the positioning signal cannot meet the navigation positioning requirement.
The position coordinates of the roadside fixed point can be longitude and latitude positions obtained by satellite surveying and mapping, and the position coordinates of the vehicle are the same. The relative position of the roadside fixed point and the vehicle can be set up into a coordinate system according to the position coordinate of the roadside fixed point, and the position coordinate of the current vehicle in the coordinate system is determined by measuring the relative position of the vehicle and the roadside fixed point.
Under the condition that the signal of the vehicle-mounted positioning system can not meet the positioning requirement of the vehicle, a camera of the vehicle collects roadside fixed points on a driving road of the vehicle, taking a guideboard as an example, since the guideboard can indicate the distance of the current location from the place, and the setup of the guideboard must be mapped in advance on a map or recorded in a related record, by acquiring the characteristics of the guideboard, the guideboard is identified as the guideboard at a certain position in the current road, further acquiring the position coordinates of the guideboard, measuring the relative position between the vehicle and the guideboard through a laser radar on the vehicle, and introducing the relative position into a coordinate system where the position coordinates of the guideboard are located, acquiring the position coordinates of the relative position in the coordinate system, and finally converting the position coordinates in the coordinate system into longitude and latitude coordinates through a vehicle-mounted computing device so as to obtain the position coordinates of the vehicle.
In the embodiment of the invention, the position coordinates of the roadside fixed point are acquired by adopting the precise coordinates of the road surface characteristic points acquired in advance and determining the current position of the vehicle according to the relative distance measured by a radar and a camera installed on the vehicle under the condition that the signal of a vehicle-mounted positioning system cannot meet the positioning requirement of the vehicle; measuring the relative position between the position coordinates of the roadside fixed point and the vehicle; according to the position coordinates and the relative position of the roadside fixed point, the position coordinates of the vehicle are obtained, the purposes of higher operability and easier realization in a software system are achieved, the phenomenon of vehicle position unlocking caused by faults such as weather, obstacles and communication is avoided, the automatic driving safety is improved, the technical effect of the stability of vehicle operation is ensured, and the technical problem that the vehicle cannot be accurately positioned due to poor signals caused by the environment where the positioning system is located is solved.
Optionally, before the position coordinates of the roadside fixed point are acquired in step S302, the method for positioning a vehicle provided in the embodiment of the present application further includes:
step S300, collecting the characteristics and position coordinates of all roadside fixed points on a road;
step S301, generating a coordinate set according to the features and the position coordinates of all roadside fixed points, wherein the features and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
Further, optionally, the method for locating a vehicle provided in the embodiment of the present application further includes:
step S303, a coordinate set is stored.
Specifically, in combination with steps S300 to S303, before vehicle positioning is implemented, the features of all roadside fixed points on the road need to be collected by the collection device, the position coordinates of the roadside fixed points are determined by the positioning system, and a coordinate set generated by the vehicle-mounted computing device based on the features of all roadside fixed points and the position coordinates of the roadside fixed points is stored by the storage device.
The storage coordinate set can be stored in vehicle-mounted computer storage in an automobile, real-time uploading can be conducted through a cloud technology, the coordinate set is stored in a cloud end, in the subsequent road revolution process, the coordinate set stored in the cloud end can be synchronously updated through real-time collection of characteristics and position coordinates of roadside fixed points, and the integrity and the safety of data are guaranteed through the cloud storage technology in the cloud technology while the vehicle-mounted operation storage pressure is reduced.
Optionally, the acquiring the position coordinates of the roadside fixed point in step S302 includes:
step S3021, acquiring the characteristics of the roadside fixed point;
step S3022, matching the position coordinates of the roadside fixing point from the coordinate set according to the features.
Specifically, still taking the above example as an example, the camera of the vehicle collects a roadside fixed point on the road where the vehicle travels, taking a guideboard as an example, since the guideboard can indicate the distance between the current position and a certain place, and the establishment of the guideboard is definitely mapped on a map or recorded in a related record in advance, by acquiring the characteristics of the guideboard, the guideboard is identified as the guideboard located at a certain position in the current road, and then the position coordinates of the guideboard are acquired.
Optionally, the obtaining the position coordinate of the vehicle according to the position coordinate and the relative position of the roadside fixed point in step S306 includes:
step S3061, acquiring a coordinate system where the roadside fixed point is located according to the position coordinate of the roadside fixed point;
step S3062, determining the position coordinates of the relative position in a coordinate system;
in step S3063, the position coordinates are determined as the position coordinates of the vehicle.
Specifically, still taking the above example as an example for description, the relative position is introduced into a coordinate system where the position coordinates of the guideboard are located, the position coordinates of the relative position in the coordinate system are obtained, and finally, the position coordinates in the coordinate system are converted into longitude and latitude coordinates by the vehicle-mounted computing device, so as to obtain the position coordinates of the vehicle.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a vehicle positioning apparatus, and fig. 4 is a schematic view of the vehicle positioning apparatus according to the embodiments of the present invention, as shown in fig. 4, including: the obtaining module 42 is configured to obtain a position coordinate of a roadside fixed point when a signal of the vehicle-mounted positioning system cannot meet a vehicle positioning requirement; a measuring module 44 for measuring the relative position between the position coordinates of the roadside fixing point and the vehicle; and the positioning module 46 is used for obtaining the position coordinates of the vehicle according to the position coordinates and the relative position of the roadside fixed point.
Optionally, the device for positioning a vehicle provided in the embodiment of the present application further includes: the acquisition module is used for acquiring the characteristics and the position coordinates of all roadside fixed points on a road before acquiring the position coordinates of the roadside fixed points; and the data processing module is used for generating a coordinate set according to the characteristics and the position coordinates of all the roadside fixed points, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
Further, optionally, the obtaining module 42 includes: an acquisition unit for acquiring the characteristics of the roadside fixed point; and the matching unit is used for matching the position coordinates of the roadside fixed point from the coordinate set according to the features.
Optionally, the positioning module 46 includes: the coordinate system acquisition unit is used for acquiring a coordinate system where the roadside fixed point is located according to the position coordinate of the roadside fixed point; a first coordinate determination unit for determining position coordinates of the relative position in a coordinate system; a second coordinate determination unit for determining the position coordinates as position coordinates of the vehicle.
Example 4
According to an aspect of still another embodiment of the present invention, there is also provided a storage medium including a stored program, wherein the apparatus in which the storage medium is located is controlled to perform the method for vehicle positioning in embodiment 1 described above when the program is executed.
Example 5
According to an aspect of yet another embodiment of the present invention, there is further provided a processor for executing a program, wherein the program executes the method for vehicle positioning in embodiment 1.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of vehicle localization, comprising:
acquiring the position coordinates of a roadside fixed point under the condition that the signals of the vehicle-mounted positioning system cannot meet the positioning requirements of the vehicle;
measuring the relative position between the position coordinates of the roadside fixed point and the vehicle;
and obtaining the position coordinate of the vehicle according to the position coordinate of the roadside fixed point and the relative position.
2. The method of claim 1, wherein prior to obtaining the location coordinates of the roadside fixation point, the method further comprises:
collecting the characteristics and position coordinates of all roadside fixed points on a road;
and generating a coordinate set according to the features and the position coordinates of all the roadside fixed points, wherein the features and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
3. The method of claim 2, further comprising:
storing the set of coordinates.
4. The method of claim 2, wherein obtaining position coordinates of a roadside fixation point comprises:
acquiring the characteristics of the roadside fixed point;
and matching the position coordinates of the roadside fixed point from the coordinate set according to the features.
5. The method of claim 1, wherein obtaining the position coordinates of the vehicle from the position coordinates of the roadside fixation point and the relative position comprises:
acquiring a coordinate system where the roadside fixed point is located according to the position coordinate of the roadside fixed point;
determining position coordinates of the relative position in the coordinate system;
determining the position coordinates as position coordinates of the vehicle.
6. An apparatus for vehicle localization, comprising:
the acquisition module is used for acquiring the position coordinates of the roadside fixed point under the condition that the signal of the vehicle-mounted positioning system cannot meet the vehicle positioning requirement;
the measuring module is used for measuring the relative position between the position coordinates of the roadside fixed point and the vehicle;
and the positioning module is used for obtaining the position coordinate of the vehicle according to the position coordinate of the roadside fixed point and the relative position.
7. The apparatus of claim 6, further comprising:
the acquisition module is used for acquiring the characteristics and the position coordinates of all roadside fixed points on a road before acquiring the position coordinates of the roadside fixed points;
and the data processing module is used for generating a coordinate set according to the characteristics and the position coordinates of all the roadside fixed points, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
8. The apparatus of claim 7, wherein the obtaining module comprises:
an acquisition unit configured to acquire a feature of the roadside fixed point;
and the matching unit is used for matching the position coordinates of the roadside fixed point from the coordinate set according to the characteristics.
9. The apparatus of claim 6, wherein the positioning module comprises:
a coordinate system obtaining unit, configured to obtain a coordinate system where the roadside fixed point is located according to the position coordinate of the roadside fixed point;
a first coordinate determination unit configured to determine position coordinates of the relative position in the coordinate system;
a second coordinate determination unit for determining the position coordinates as position coordinates of the vehicle.
10. An automobile, comprising: acquisition device, measuring device, on-vehicle computing device, positioning system and storage device, wherein,
the collecting device is used for collecting the characteristics of the roadside fixed point and acquiring the position coordinate of the roadside fixed point according to the characteristics;
the measuring device is connected with the collecting device and is used for measuring the relative position between the position coordinate of the roadside fixed point and the vehicle;
the vehicle-mounted computing device is connected with the measuring device and used for obtaining the position coordinate of the vehicle according to the position coordinate of the roadside fixed point and the relative position;
the storage device is respectively connected with the acquisition device and the vehicle-mounted computing device and is used for storing the characteristics of all roadside fixed points on the road acquired by the acquisition device before acquiring the position coordinates of the roadside fixed points, determining the position coordinates of the roadside fixed points through the positioning system, and generating a coordinate set according to the characteristics of all the roadside fixed points and the position coordinates of the roadside fixed points through the vehicle-mounted computing device, wherein the characteristics and the position coordinates of each roadside fixed point in the coordinate set are mapped with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545168.3A CN112113580A (en) | 2019-06-21 | 2019-06-21 | Vehicle positioning method and device and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545168.3A CN112113580A (en) | 2019-06-21 | 2019-06-21 | Vehicle positioning method and device and automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112113580A true CN112113580A (en) | 2020-12-22 |
Family
ID=73795349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910545168.3A Pending CN112113580A (en) | 2019-06-21 | 2019-06-21 | Vehicle positioning method and device and automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112113580A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114360240A (en) * | 2021-12-06 | 2022-04-15 | 合肥湛达智能科技有限公司 | High-precision positioning method based on vehicle networking track characteristics |
| CN115802488A (en) * | 2023-01-29 | 2023-03-14 | 交通运输部公路科学研究所 | Vehicle and road cooperative accurate positioning method based on electrified highway |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606086A (en) * | 2015-08-28 | 2016-05-25 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and terminal |
| US20160265924A1 (en) * | 2013-11-05 | 2016-09-15 | Toyota Jidosha Kabushiki Kaisha | Vehicle position identifying system and vehicle position identifying method |
| CN107807633A (en) * | 2017-09-27 | 2018-03-16 | 北京图森未来科技有限公司 | A kind of roadside device, mobile unit and automatic Pilot cognitive method and system |
| CN108521800A (en) * | 2017-09-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, control terminal and the machine readable storage medium of automatic driving vehicle |
| CN109815300A (en) * | 2018-12-13 | 2019-05-28 | 北京邮电大学 | A kind of vehicle positioning method |
| CN109856591A (en) * | 2019-01-24 | 2019-06-07 | 腾讯科技（深圳）有限公司 | Localization method, device, computer-readable medium and the electronic equipment of mobile terminal |
-
2019
- 2019-06-21 CN CN201910545168.3A patent/CN112113580A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160265924A1 (en) * | 2013-11-05 | 2016-09-15 | Toyota Jidosha Kabushiki Kaisha | Vehicle position identifying system and vehicle position identifying method |
| CN105606086A (en) * | 2015-08-28 | 2016-05-25 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and terminal |
| CN107807633A (en) * | 2017-09-27 | 2018-03-16 | 北京图森未来科技有限公司 | A kind of roadside device, mobile unit and automatic Pilot cognitive method and system |
| CN108521800A (en) * | 2017-09-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, control terminal and the machine readable storage medium of automatic driving vehicle |
| CN109815300A (en) * | 2018-12-13 | 2019-05-28 | 北京邮电大学 | A kind of vehicle positioning method |
| CN109856591A (en) * | 2019-01-24 | 2019-06-07 | 腾讯科技（深圳）有限公司 | Localization method, device, computer-readable medium and the electronic equipment of mobile terminal |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114360240A (en) * | 2021-12-06 | 2022-04-15 | 合肥湛达智能科技有限公司 | High-precision positioning method based on vehicle networking track characteristics |
| CN114360240B (en) * | 2021-12-06 | 2023-09-19 | 合肥湛达智能科技有限公司 | High-precision positioning method based on Internet of vehicles track characteristics |
| CN115802488A (en) * | 2023-01-29 | 2023-03-14 | 交通运输部公路科学研究所 | Vehicle and road cooperative accurate positioning method based on electrified highway |
| CN115802488B (en) * | 2023-01-29 | 2023-05-05 | 交通运输部公路科学研究所 | Vehicle road collaborative accurate positioning method based on electrified road |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108873038B (en) | Autonomous parking positioning method and positioning system | |
| CN102099656B (en) | Method for updating a geographic database for a vehicle navigation system | |
| EP2113746B1 (en) | Feature information collecting device and feature information collecting program, and vehicle position recognizing device and navigation device | |
| DE102011119762A1 (en) | Positioning system for motor vehicle, has processing unit that determines localized position of vehicle using vehicle movement data measured based on specific location data stored in digital card | |
| JP2019508677A (en) | Control of vehicle components using maps | |
| US11002553B2 (en) | Method and device for executing at least one measure for increasing the safety of a vehicle | |
| EP3667236B1 (en) | A method of determining position data | |
| CN101815928A (en) | Method of capturing linear features along a reference-line across a surface for use in a map database | |
| CN110906939A (en) | Automatic driving positioning method and device, electronic equipment, storage medium and automobile | |
| CN110599853B (en) | Intelligent teaching system and method for driving school | |
| CN111224710B (en) | Virtual transponder capturing method and system based on satellite space distribution inspection | |
| US8483961B2 (en) | Systems, methods, and computer program products of flight validation | |
| WO2015043579A1 (en) | Determination of the position of a vehicle on or above a planet surface | |
| CN109515439A (en) | Automatic Pilot control method, device, system and storage medium | |
| CN110018503B (en) | Vehicle positioning method and positioning system | |
| CN112113580A (en) | Vehicle positioning method and device and automobile | |
| CN112150576B (en) | High-precision vector map acquisition system and method | |
| CN108242163B (en) | Driver assistance system, motor vehicle, method and medium for outputting traffic information | |
| CN113405555B (en) | Automatic driving positioning sensing method, system and device | |
| CN111832365A (en) | Lane mark determination method and device | |
| CN114791282A (en) | Road facility coordinate calibration method and device based on vehicle high-precision positioning | |
| CN113566834A (en) | Positioning method, positioning device, vehicle, and storage medium | |
| CN108981729A (en) | Vehicle positioning method and device | |
| CN114281832A (en) | High-precision map data updating method and device based on positioning result and electronic equipment | |
| CN107588760B (en) | Fixed-height high-precision track generation method suitable for fixed-wing unmanned aerial vehicle tracking road |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201222 |